/*
planner.c - buffers movement commands and manages the acceleration profile plan
Part of Grbl

Copyright (c) 2009-2011 Simen Svale Skogsrud

Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with Grbl.  If not, see <http://www.gnu.org/licenses/>.
*/

/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */

/*
Reasoning behind the mathematics in this module (in the key of 'Mathematica'):

s == speed, a == acceleration, t == time, d == distance

Basic definitions:

Speed[s_, a_, t_] := s + (a*t)
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]

Distance to reach a specific speed with a constant acceleration:

Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()

Speed after a given distance of travel with constant acceleration:

Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
m -> Sqrt[2 a d + s^2]

DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]

When to start braking (di) to reach a specified destionation speed (s2) after accelerating
from initial speed s1 without ever stopping at a plateau:

Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()

IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
*/

#include "Marlin.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "ultralcd.h"
#include "language.h"
#include "Hysteresis.h"
//===========================================================================
//=============================public variables ============================
//===========================================================================
unsigned long long x0mmdone = 0;
unsigned long long x1mmdone = 0;
unsigned long long ymmdone = 0;
unsigned long long e0mmdone = 0;
unsigned long long e1mmdone = 0;
unsigned long minsegmenttime;
float max_feedrate[4]; // set the max speeds
float axis_steps_per_unit[4];
unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
float minimumfeedrate;
float acceleration;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float acceleration_old;         // Normal acceleration mm/s^2  THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float retract_acceleration; //  mm/s^2   filament pull-pack and push-forward  while standing still in the other axis M204 TXXXX
float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
float max_z_jerk;
float max_e_jerk;
float mintravelfeedrate;
bool quick_start;
unsigned long axis_steps_per_sqr_second[NUM_AXIS];


#ifdef ENABLE_AUTO_BED_LEVELING
// this holds the required transform to compensate for bed level
matrix_3x3 plan_bed_level_matrix = {
	1.0, 0.0, 0.0,
	0.0, 1.0, 0.0,
	0.0, 0.0, 1.0,
};
#endif // #ifdef ENABLE_AUTO_BED_LEVELING

// The current position of the tool in absolute steps
long position[4];   //rescaled from extern when axis_steps_per_unit are changed by gcode
static float previous_speed[4]; // Speed of previous path line segment
static float previous_nominal_speed; // Nominal speed of previous path line segment

#ifdef AUTOTEMP
float autotemp_max=250;
float autotemp_min=210;
float autotemp_factor=0.1;
bool autotemp_enabled=false;
#endif

unsigned char g_uc_extruder_last_move[3] = {0,0,0};

//===========================================================================
//=================semi-private variables, used in inline  functions    =====
//===========================================================================
block_t block_buffer[BLOCK_BUFFER_SIZE];            // A ring buffer for motion instfructions
volatile unsigned char block_buffer_head;           // Index of the next block to be pushed
volatile unsigned char block_buffer_tail;           // Index of the block to process now

//===========================================================================
//=============================private variables ============================
//===========================================================================
#ifdef PREVENT_DANGEROUS_EXTRUDE
float extrude_min_temp=EXTRUDE_MINTEMP;
#endif
#ifdef XY_FREQUENCY_LIMIT
#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
// Used for the frequency limit
static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0};     // Segment times (in us). Used for speed calculations
static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
#endif

#ifdef FILAMENT_SENSOR
static char meas_sample; //temporary variable to hold filament measurement sample
#endif

// Returns the index of the next block in the ring buffer
// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
static int8_t next_block_index(int8_t block_index) {
	block_index++;
	if (block_index == BLOCK_BUFFER_SIZE) {
		block_index = 0;
	}
	return(block_index);
}


// Returns the index of the previous block in the ring buffer
static int8_t prev_block_index(int8_t block_index) {
	if (block_index == 0) {
		block_index = BLOCK_BUFFER_SIZE;
	}
	block_index--;
	return(block_index);
}

//===========================================================================
//=============================functions         ============================
//===========================================================================

// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
{
	if (acceleration!=0) {
		return((target_rate*target_rate-initial_rate*initial_rate)/
		(2.0*acceleration));
	}
	else {
		return 0.0;  // acceleration was 0, set acceleration distance to 0
	}
}

// This function gives you the point at which you must start braking (at the rate of -acceleration) if
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
// a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)

FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
{
	if (acceleration!=0) {
		return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
		(4.0*acceleration) );
	}
	else {
		return 0.0;  // acceleration was 0, set intersection distance to 0
	}
}

// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.

void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
	unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
	unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)

	// Limit minimal step rate (Otherwise the timer will overflow.)
	if(initial_rate <120) {
		initial_rate=120;
	}
	if(final_rate < 120) {
		final_rate=120;
	}

	long acceleration = block->acceleration_st;
	int32_t accelerate_steps =
	ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
	int32_t decelerate_steps =
	floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));

	// Calculate the size of Plateau of Nominal Rate.
	int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;

	// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
	// have to use intersection_distance() to calculate when to abort acceleration and start braking
	// in order to reach the final_rate exactly at the end of this block.
	if (plateau_steps < 0) {
		accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
		accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
		accelerate_steps = min((uint32_t)accelerate_steps,block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
		plateau_steps = 0;
	}

	#ifdef ADVANCE
	volatile long initial_advance = block->advance*entry_factor*entry_factor;
	volatile long final_advance = block->advance*exit_factor*exit_factor;
	#endif // ADVANCE

	// block->accelerate_until = accelerate_steps;
	// block->decelerate_after = accelerate_steps+plateau_steps;
	CRITICAL_SECTION_START;  // Fill variables used by the stepper in a critical section
	if(block->busy == false) { // Don't update variables if block is busy.
		block->accelerate_until = accelerate_steps;
		block->decelerate_after = accelerate_steps+plateau_steps;
		block->initial_rate = initial_rate;
		block->final_rate = final_rate;
		#ifdef ADVANCE
		block->initial_advance = initial_advance;
		block->final_advance = final_advance;
		#endif //ADVANCE
	}
	CRITICAL_SECTION_END;
}

// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
	return  sqrt(target_velocity*target_velocity-2*acceleration*distance);
}

// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
// This method will calculate the junction jerk as the euclidean distance between the nominal
// velocities of the respective blocks.
//inline float junction_jerk(block_t *before, block_t *after) {
//  return sqrt(
//    pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
//}


// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
	if(!current) {
		return;
	}

	if (next) {
		// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
		// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
		// check for maximum allowable speed reductions to ensure maximum possible planned speed.
		if (current->entry_speed != current->max_entry_speed) {

			// If nominal length true, max junction speed is guaranteed to be reached. Only compute
			// for max allowable speed if block is decelerating and nominal length is false.
			if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
				current->entry_speed = min( current->max_entry_speed,
				max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
			}
			else {
				current->entry_speed = current->max_entry_speed;
			}
			current->recalculate_flag = true;

		}
	} // Skip last block. Already initialized and set for recalculation.
}

// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the reverse pass.
void planner_reverse_pass() {
	uint8_t block_index = block_buffer_head;
	
	//Make a local copy of block_buffer_tail, because the interrupt can alter it
	CRITICAL_SECTION_START;
	unsigned char tail = block_buffer_tail;
	CRITICAL_SECTION_END
	
	if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
		block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
		block_t *block[3] = {
		NULL, NULL, NULL         };
		while(block_index != tail) {
			block_index = prev_block_index(block_index);
			block[2]= block[1];
			block[1]= block[0];
			block[0] = &block_buffer[block_index];
			planner_reverse_pass_kernel(block[0], block[1], block[2]);
		}
	}
}

// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
	if(!previous) {
		return;
	}

	// If the previous block is an acceleration block, but it is not long enough to complete the
	// full speed change within the block, we need to adjust the entry speed accordingly. Entry
	// speeds have already been reset, maximized, and reverse planned by reverse planner.
	// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
	if (!previous->nominal_length_flag) {
		if (previous->entry_speed < current->entry_speed) {
			double entry_speed = min( current->entry_speed,
			max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );

			// Check for junction speed change
			if (current->entry_speed != entry_speed) {
				current->entry_speed = entry_speed;
				current->recalculate_flag = true;
			}
		}
	}
}

// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass.
void planner_forward_pass() {
	uint8_t block_index = block_buffer_tail;
	block_t *block[3] = {
	NULL, NULL, NULL   };

	while(block_index != block_buffer_head) {
		block[0] = block[1];
		block[1] = block[2];
		block[2] = &block_buffer[block_index];
		planner_forward_pass_kernel(block[0],block[1],block[2]);
		block_index = next_block_index(block_index);
	}
	planner_forward_pass_kernel(block[1], block[2], NULL);
}

// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
// entry_factor for each junction. Must be called by planner_recalculate() after
// updating the blocks.
void planner_recalculate_trapezoids() {
	int8_t block_index = block_buffer_tail;
	block_t *current;
	block_t *next = NULL;

	while(block_index != block_buffer_head) {
		current = next;
		next = &block_buffer[block_index];
		if (current) {
			// Recalculate if current block entry or exit junction speed has changed.
			if (current->recalculate_flag || next->recalculate_flag) {
				// NOTE: Entry and exit factors always > 0 by all previous logic operations.
				calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
				next->entry_speed/current->nominal_speed);
				current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
			}
		}
		block_index = next_block_index( block_index );
	}
	// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
	if(next != NULL) {
		calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
		MINIMUM_PLANNER_SPEED/next->nominal_speed);
		next->recalculate_flag = false;
	}
}

// Recalculates the motion plan according to the following algorithm:
//
//   1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
//      so that:
//     a. The junction jerk is within the set limit
//     b. No speed reduction within one block requires faster deceleration than the one, true constant
//        acceleration.
//   2. Go over every block in chronological order and dial down junction speed reduction values if
//     a. The speed increase within one block would require faster accelleration than the one, true
//        constant acceleration.
//
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will:
//
//   3. Recalculate trapezoids for all blocks.

void planner_recalculate() {
	planner_reverse_pass();
	planner_forward_pass();
	planner_recalculate_trapezoids();
}

void plan_init() {
	block_buffer_head = 0;
	block_buffer_tail = 0;
	memset(position, 0, sizeof(position)); // clear position
	previous_speed[0] = 0.0;
	previous_speed[1] = 0.0;
	previous_speed[2] = 0.0;
	previous_speed[3] = 0.0;
	previous_nominal_speed = 0.0;
}




#ifdef AUTOTEMP
void getHighESpeed()
{
	static float oldt=0;
	if(!autotemp_enabled){
		return;
	}
	if(degTargetHotend0()+2<autotemp_min) {  //probably temperature set to zero.
		return; //do nothing
	}

	float high=0.0;
	uint8_t block_index = block_buffer_tail;

	while(block_index != block_buffer_head) {
		if((block_buffer[block_index].steps_x != 0) ||
		(block_buffer[block_index].steps_y != 0) ||
		(block_buffer[block_index].steps_z != 0)) {
			float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
			//se; mm/sec;
			if(se>high)
			{
				high=se;
			}
		}
		block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
	}

	float g=autotemp_min+high*autotemp_factor;
	float t=g;
	if(t<autotemp_min)
	t=autotemp_min;
	if(t>autotemp_max)
	t=autotemp_max;
	if(oldt>t)
	{
		t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
	}
	oldt=t;
	setTargetHotend0(t);
}
#endif

void check_axes_activity()
{
	unsigned char x_active = 0;
	unsigned char y_active = 0;
	unsigned char z_active = 0;
	unsigned char e_active = 0;
	unsigned char tail_fan_speed = fanSpeed;
	#ifdef BARICUDA
	unsigned char tail_valve_pressure = ValvePressure;
	unsigned char tail_e_to_p_pressure = EtoPPressure;
	#endif
	block_t *block;

	if(block_buffer_tail != block_buffer_head)
	{
		uint8_t block_index = block_buffer_tail;
		tail_fan_speed = block_buffer[block_index].fan_speed;
		#ifdef BARICUDA
		tail_valve_pressure = block_buffer[block_index].valve_pressure;
		tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
		#endif
		while(block_index != block_buffer_head)
		{
			block = &block_buffer[block_index];
			if(block->steps_x != 0) x_active++;
			if(block->steps_y != 0) y_active++;
			if(block->steps_z != 0) z_active++;
			if(block->steps_e != 0) e_active++;
			block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
		}
	}
	if((DISABLE_X) && (x_active == 0) && (!doblocking)) disable_x();
	if((DISABLE_Y) && (y_active == 0) && (!doblocking)) disable_y();
	if((DISABLE_Z) && (z_active == 0) && (!doblocking)) disable_z();
	if((DISABLE_E) && (e_active == 0) && (!doblocking))
	{
		disable_e0();
		disable_e1();
		disable_e2();
	}
	#if defined(FAN_PIN) && FAN_PIN > -1
	#ifdef FAN_KICKSTART_TIME
	static unsigned long fan_kick_end;
	if (tail_fan_speed) {
		if (fan_kick_end == 0) {
			// Just starting up fan - run at full power.
			fan_kick_end = millis() + FAN_KICKSTART_TIME;
			tail_fan_speed = 255;
		} else if (fan_kick_end > millis())
		// Fan still spinning up.
		tail_fan_speed = 255;
		} else {
		fan_kick_end = 0;
	}
	#endif//FAN_KICKSTART_TIME
	#ifdef FAN_SOFT_PWM
	fanSpeedSoftPwm = tail_fan_speed;
	#else
	
	//Rapduch
	#if MOTHERBOARD == BCN3D_BOARD
	
	if(extruder_duplication_enabled || extruder_duplication_mirror_enabled){
		tail_fan_speed=constrain((((int)round((100.0*fanSpeed)/255.0)+fanSpeed_offset[LEFT_EXTRUDER])*255)/100,0,255);
		analogWrite(FAN_PIN,tail_fan_speed);
		analogWrite(FAN2_PIN,tail_fan_speed);
	}
	else if(Flag_fanSpeed_mirror==1){
		tail_fan_speed=constrain((((int)round((100.0*fanSpeed)/255.0)+fanSpeed_offset[LEFT_EXTRUDER])*255)/100,0,255);
		analogWrite(FAN_PIN,tail_fan_speed);
		tail_fan_speed=constrain((((int)round((100.0*fanSpeed)/255.0)+fanSpeed_offset[RIGHT_EXTRUDER])*255)/100,0,255);
		analogWrite(FAN2_PIN,tail_fan_speed);
	}
	else
	{
		if (active_extruder == LEFT_EXTRUDER){
			tail_fan_speed=constrain((((int)round((100.0*fanSpeed)/255.0)+(card.sdprinting?fanSpeed_offset[LEFT_EXTRUDER]:0))*255)/100,0,255);
			analogWrite(FAN_PIN,tail_fan_speed);
			analogWrite(FAN2_PIN,0);
		}
		else if (active_extruder == RIGHT_EXTRUDER){
			tail_fan_speed=constrain((((int)round((100.0*fanSpeed)/255.0)+ (card.sdprinting?fanSpeed_offset[RIGHT_EXTRUDER]:0))*255)/100,0,255);
			analogWrite(FAN_PIN,0);
			analogWrite(FAN2_PIN,tail_fan_speed);
			
		}
	}
	
	//analogWrite(FAN_PIN,tail_fan_speed);
	//analogWrite(FAN2_PIN,tail_fan_speed);
	#else
	analogWrite(FAN_PIN,tail_fan_speed);
	#endif
	
	#endif//!FAN_SOFT_PWM
	#endif//FAN_PIN > -1
	#ifdef AUTOTEMP
	getHighESpeed();
	#endif

	#ifdef BARICUDA
	#if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
	analogWrite(HEATER_1_PIN,tail_valve_pressure);
	#endif

	#if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
	analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
	#endif
	#endif
}

float junction_deviation = 0.1;
// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
#ifdef ENABLE_AUTO_BED_LEVELING
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
#else
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
#endif  //ENABLE_AUTO_BED_LEVELING
{
	#ifdef DEFAULT_HYSTERESIS
	//hysteresis.InsertCorrection(x,y,z,e);
	
	float fixed_pos[NUM_AXIS];
	float destination[NUM_AXIS] = {x,y,z,e};
	
	for(int axis=0;axis<NUM_AXIS;++axis)
	{
		fixed_pos[axis] = destination[axis];
	}
	if(hysteresis.parabolaA !=0.0){
		hysteresis.SetAxis(Y_AXIS, hysteresis.ReportHisteresys_AxisY(current_position[Y_AXIS]));
	}
	float best_feedrate = feed_rate;
	unsigned char direction_bits = calc_direction_bits( current_position, destination );
	// if the direction has changed in any of the axis that need hysteresis corrections...
	unsigned char direction_change_bits = (direction_bits ^ hysteresis.m_prev_direction_bits);
	if( (direction_change_bits & hysteresis.m_hysteresis_bits) != 0 )
	{
		// calculate the position to move to that will fix the hysteresis
		
		for(int axis=0;axis<NUM_AXIS;++axis)
		{
			// if this axis changed direction...
			if( (1<<axis) )
			{
				
				position[axis] += lround((((direction_bits&(1<<axis))!=0)?hysteresis.m_hysteresis_mm[axis]:-hysteresis.m_last_hysteresis[axis])*axis_steps_per_unit[axis]);
				Serial.println((((direction_bits&(1<<axis))!=0)?hysteresis.m_hysteresis_mm[axis]:-hysteresis.m_last_hysteresis[axis]));
				hysteresis.m_last_hysteresis[axis] = hysteresis.m_hysteresis_mm[axis];
			}
		}
		
		//float best_feedrate = calc_best_feedrate( current_position, destination );

		/*
		// debug output to display any hysteresis corrections.
		SERIAL_PROTOCOLPGM("From=X");
		SERIAL_PROTOCOL(current_position[X_AXIS]);
		SERIAL_PROTOCOLPGM(" Y");
		SERIAL_PROTOCOL(current_position[Y_AXIS]);
		SERIAL_PROTOCOLPGM(" Z");
		SERIAL_PROTOCOL(current_position[Z_AXIS]);
		SERIAL_PROTOCOLPGM(" E");
		SERIAL_PROTOCOL(current_position[E_AXIS]);

		SERIAL_PROTOCOLLN("");

		SERIAL_PROTOCOLPGM("  To=X");
		SERIAL_PROTOCOL(fixed_pos[X_AXIS]);
		SERIAL_PROTOCOLPGM(" Y");
		SERIAL_PROTOCOL(fixed_pos[Y_AXIS]);
		SERIAL_PROTOCOLPGM(" Z");
		SERIAL_PROTOCOL(fixed_pos[Z_AXIS]);
		SERIAL_PROTOCOLPGM(" E");
		SERIAL_PROTOCOL(fixed_pos[E_AXIS]);
		
		SERIAL_PROTOCOLPGM(" F");
		SERIAL_PROTOCOL(best_feedrate);
		

		SERIAL_PROTOCOLLN("");
		*/
		
		hysteresis.m_prev_direction_bits = direction_bits; // need to set these now to avoid recursion as plan_buffer_line calls this function
		
	}
	hysteresis.m_prev_direction_bits = direction_bits;
	
	
	
	
	#endif
	

	// Calculate the buffer head after we push this byte
	int next_buffer_head = next_block_index(block_buffer_head);

	// If the buffer is full: good! That means we are well ahead of the robot.
	// Rest here until there is room in the buffer.
	while(block_buffer_tail == next_buffer_head)
	{
		manage_heater();
		manage_inactivity();
		//lcd_update();
		#ifdef SIGMA_TOUCH_SCREEN
		touchscreen_update();
		#endif
	}

	#ifdef ENABLE_AUTO_BED_LEVELING
	apply_rotation_xyz(plan_bed_level_matrix, fixed_pos[X_AXIS], fixed_pos[Y_AXIS], fixed_pos[Z_AXIS]);
	#endif // ENABLE_AUTO_BED_LEVELING

	// The target position of the tool in absolute steps
	// Calculate target position in absolute steps
	//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
	long target[4];
	target[X_AXIS] = lround(fixed_pos[X_AXIS]*axis_steps_per_unit[X_AXIS]);
	target[Y_AXIS] = lround(fixed_pos[Y_AXIS]*axis_steps_per_unit[Y_AXIS]);
	target[Z_AXIS] = lround(fixed_pos[Z_AXIS]*axis_steps_per_unit[Z_AXIS]);
	target[E_AXIS] = lround(fixed_pos[E_AXIS]*axis_steps_per_unit[E_AXIS]);

	#ifdef PREVENT_DANGEROUS_EXTRUDE
	if(target[E_AXIS]!=position[E_AXIS])
	{
		if(degHotend(extruder)<extrude_min_temp)
		{
			position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
			SERIAL_ECHO_START;
			SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
		}
		
		#ifdef PREVENT_LENGTHY_EXTRUDE
		if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
		{
			position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
			SERIAL_ECHO_START;
			SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
		}
		#endif
	}
	#endif

	// Prepare to set up new block
	block_t *block = &block_buffer[block_buffer_head];

	// Mark block as not busy (Not executed by the stepper interrupt)
	block->busy = false;

	// Number of steps for each axis
	#ifndef COREXY
	// default non-h-bot planning
	block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
	block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
	#else
	// corexy planning
	// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
	block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
	block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
	#endif
	block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
	block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
	block->steps_e *= volumetric_multiplier[active_extruder];
	block->steps_e *= extruder_multiply[active_extruder];
	block->steps_e /= 100;
	block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));

	// Bail if this is a zero-length block
	if (block->step_event_count <= dropsegments)
	{
		return;
	}

	block->fan_speed = fanSpeed;
	#ifdef BARICUDA
	block->valve_pressure = ValvePressure;
	block->e_to_p_pressure = EtoPPressure;
	#endif

	// Compute direction bits for this block
	block->direction_bits = 0;
	#ifndef COREXY
	if (target[X_AXIS] < position[X_AXIS])
	{
		block->direction_bits |= (1<<X_AXIS);
	}
	if (target[Y_AXIS] < position[Y_AXIS])
	{
		block->direction_bits |= (1<<Y_AXIS);
	}
	#else
	if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
	{
		block->direction_bits |= (1<<X_AXIS);
	}
	if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
	{
		block->direction_bits |= (1<<Y_AXIS);
	}
	#endif
	if (target[Z_AXIS] < position[Z_AXIS])
	{
		block->direction_bits |= (1<<Z_AXIS);
	}
	if (target[E_AXIS] < position[E_AXIS])
	{
		block->direction_bits |= (1<<E_AXIS);
	}

	block->active_extruder = extruder;

	//enable active axes
	#ifdef COREXY
	if((block->steps_x != 0) || (block->steps_y != 0))
	{
		enable_x();
		enable_y();
	}
	#else
	if(block->steps_x != 0) enable_x();
	if(block->steps_y != 0) enable_y();
	#endif
	#ifndef Z_LATE_ENABLE
	if(block->steps_z != 0) enable_z();
	#endif

	// Enable extruder(s)
	if(block->steps_e != 0)
	{
		if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
		{

			if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
			if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
			if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
			
			switch(extruder)
			{
				case 0:
				enable_e0();
				g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
				
				if(g_uc_extruder_last_move[1] == 0) disable_e1();
				if(g_uc_extruder_last_move[2] == 0) disable_e2();
				break;
				
				case 1:
				enable_e1();
				g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
				
				if(g_uc_extruder_last_move[0] == 0) disable_e0();
				if(g_uc_extruder_last_move[2] == 0) disable_e2();
				break;
				case 2:
				enable_e2();
				g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
				
				if(g_uc_extruder_last_move[0] == 0) disable_e0();
				if(g_uc_extruder_last_move[1] == 0) disable_e1();
				break;
			}
		}
		else //enable all
		{
			enable_e0();
			enable_e1();
			enable_e2();
		}
	}
	if (block->steps_e == 0)
	{
		if(best_feedrate<mintravelfeedrate) best_feedrate=mintravelfeedrate;
	}
	else
	{
		if(best_feedrate<minimumfeedrate) best_feedrate=minimumfeedrate;
	}

	float delta_mm[4];
	#ifndef COREXY
	delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
	delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
	#else
	delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
	delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
	#endif
	delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
	delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0;
	if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
	{
		block->millimeters = fabs(delta_mm[E_AXIS]);
	}
	else
	{
		block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
	}
	float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides

	// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
	float inverse_second = best_feedrate * inverse_millimeters;

	int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);

	// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
	#ifdef OLD_SLOWDOWN
	if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)	best_feedrate = best_feedrate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
	#endif

	#ifdef SLOWDOWN
	//  segment time im micro seconds
	unsigned long segment_time = lround(1000000.0/inverse_second);
	if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
	{
		if (segment_time < minsegmenttime)
		{ // buffer is draining, add extra time.  The amount of time added increases if the buffer is still emptied more.
			inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
			#ifdef XY_FREQUENCY_LIMIT
			segment_time = lround(1000000.0/inverse_second);
			#endif
		}
	}
	#endif
	//  END OF SLOW DOWN SECTION


	block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
	block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0

	#ifdef FILAMENT_SENSOR
	//FMM update ring buffer used for delay with filament measurements
	
	
	if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1))  //only for extruder with filament sensor and if ring buffer is initialized
	{
		delay_dist = delay_dist + delta_mm[E_AXIS];  //increment counter with next move in e axis
		
		while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1)))  //check if counter is over max buffer size in mm
		delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1);  //loop around the buffer
		while (delay_dist<0)
		delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
		
		delay_index1=delay_dist/10.0;  //calculate index
		
		//ensure the number is within range of the array after converting from floating point
		if(delay_index1<0)
		delay_index1=0;
		else if (delay_index1>MAX_MEASUREMENT_DELAY)
		delay_index1=MAX_MEASUREMENT_DELAY;
		
		if(delay_index1 != delay_index2)  //moved index
		{
			meas_sample=widthFil_to_size_ratio()-100;  //subtract off 100 to reduce magnitude - to store in a signed char
		}
		while( delay_index1 != delay_index2)
		{
			delay_index2 = delay_index2 + 1;
			if(delay_index2>MAX_MEASUREMENT_DELAY) delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1);  //loop around buffer when incrementing
			if(delay_index2<0) 	delay_index2=0;
			else if (delay_index2>MAX_MEASUREMENT_DELAY) delay_index2=MAX_MEASUREMENT_DELAY;
			
			measurement_delay[delay_index2]=meas_sample;
		}
		
	}
	#endif


	// Calculate and limit speed in mm/sec for each axis
	float current_speed[4];
	float speed_factor = 1.0; //factor <=1 do decrease speed
	for(int i=0; i < 4; i++)
	{
		current_speed[i] = delta_mm[i] * inverse_second;
		if(fabs(current_speed[i]) > max_feedrate[i])
		speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
	}

	// Max segement time in us.
	#ifdef XY_FREQUENCY_LIMIT
	#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
	// Check and limit the xy direction change frequency
	unsigned char direction_change = block->direction_bits ^ old_direction_bits;
	old_direction_bits = block->direction_bits;
	segment_time = lround((float)segment_time / speed_factor);
	
	if((direction_change & (1<<X_AXIS)) == 0)
	{
		x_segment_time[0] += segment_time;
	}
	else
	{
		x_segment_time[2] = x_segment_time[1];
		x_segment_time[1] = x_segment_time[0];
		x_segment_time[0] = segment_time;
	}
	if((direction_change & (1<<Y_AXIS)) == 0)
	{
		y_segment_time[0] += segment_time;
	}
	else
	{
		y_segment_time[2] = y_segment_time[1];
		y_segment_time[1] = y_segment_time[0];
		y_segment_time[0] = segment_time;
	}
	long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
	long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
	long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
	if(min_xy_segment_time < MAX_FREQ_TIME)
	speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
	#endif

	// Correct the speed
	if( speed_factor < 1.0)
	{
		for(unsigned char i=0; i < 4; i++)
		{
			current_speed[i] *= speed_factor;
		}
		block->nominal_speed *= speed_factor;
		block->nominal_rate *= speed_factor;
	}

	// Compute and limit the acceleration rate for the trapezoid generator.
	float steps_per_mm = block->step_event_count/block->millimeters;
	if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
	{
		block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
	}
	else
	{
		block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
		// Limit acceleration per axis
		if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
		block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
		if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
		block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
		if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
		block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
		if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
		block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
	}
	block->acceleration = block->acceleration_st / steps_per_mm;
	block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));

	#if 0  // Use old jerk for now
	// Compute path unit vector
	double unit_vec[3];

	unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
	unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
	unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;

	// Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
	// Let a circle be tangent to both previous and current path line segments, where the junction
	// deviation is defined as the distance from the junction to the closest edge of the circle,
	// colinear with the circle center. The circular segment joining the two paths represents the
	// path of centripetal acceleration. Solve for max velocity based on max acceleration about the
	// radius of the circle, defined indirectly by junction deviation. This may be also viewed as
	// path width or max_jerk in the previous grbl version. This approach does not actually deviate
	// from path, but used as a robust way to compute cornering speeds, as it takes into account the
	// nonlinearities of both the junction angle and junction velocity.
	double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed

	// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
	if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
		// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
		// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
		double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
		- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
		- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;

		// Skip and use default max junction speed for 0 degree acute junction.
		if (cos_theta < 0.95) {
			vmax_junction = min(previous_nominal_speed,block->nominal_speed);
			// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
			if (cos_theta > -0.95) {
				// Compute maximum junction velocity based on maximum acceleration and junction deviation
				double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
				vmax_junction = min(vmax_junction,
				sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
			}
		}
	}
	#endif
	// Start with a safe speed
	float vmax_junction = max_xy_jerk/2;
	float vmax_junction_factor = 1.0;
	if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) vmax_junction = min(vmax_junction, max_z_jerk/2);
	if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) vmax_junction = min(vmax_junction, max_e_jerk/2);
	vmax_junction = min(vmax_junction, block->nominal_speed);
	float safe_speed = vmax_junction;

	if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
		float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
		//    if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
		vmax_junction = block->nominal_speed;
		//    }
		if (jerk > max_xy_jerk) {
			vmax_junction_factor = (max_xy_jerk/jerk);
		}
		if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
			vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
		}
		if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
			vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
		}
		vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
	}
	block->max_entry_speed = vmax_junction;

	// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
	double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
	block->entry_speed = min(vmax_junction, v_allowable);
	
	// Initialize planner efficiency flags
	// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
	// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
	// the current block and next block junction speeds are guaranteed to always be at their maximum
	// junction speeds in deceleration and acceleration, respectively. This is due to how the current
	// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
	// the reverse and forward planners, the corresponding block junction speed will always be at the
	// the maximum junction speed and may always be ignored for any speed reduction checks.
	if (block->nominal_speed <= v_allowable) {
		block->nominal_length_flag = true;
	}
	else {
		block->nominal_length_flag = false;
	}
	block->recalculate_flag = true; // Always calculate trapezoid for new block

	// Update previous path unit_vector and nominal speed
	memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
	previous_nominal_speed = block->nominal_speed;
	

	#ifdef ADVANCE
	// Calculate advance rate
	if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
		block->advance_rate = 0;
		block->advance = 0;
	}
	else {
		long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
		float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
		(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
		block->advance = advance;
		if(acc_dist == 0) {
			block->advance_rate = 0;
		}
		else {
			block->advance_rate = advance / (float)acc_dist;
		}
	}
	/*
	SERIAL_ECHO_START;
	SERIAL_ECHOPGM("advance :");
	SERIAL_ECHO(block->advance/256.0);
	SERIAL_ECHOPGM("advance rate :");
	SERIAL_ECHOLN(block->advance_rate/256.0);
	*/
	#endif // ADVANCE

	calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed, safe_speed/block->nominal_speed);

	// Move buffer head
	block_buffer_head = next_buffer_head;
	if(active_extruder == LEFT_EXTRUDER){
		if (target[X_AXIS] < position[X_AXIS]){
			x0mmdone = x0mmdone  + (position[0] - target[X_AXIS]);
		}
		else{
			x0mmdone = x0mmdone + (target[0]-position[X_AXIS]);
		}
		
		if (target[E_AXIS] < position[E_AXIS]){
			e0mmdone = e0mmdone  + (position[E_AXIS] - target[E_AXIS]);
		}
		else{
			e0mmdone = e0mmdone + (target[E_AXIS]-position[E_AXIS]);
		}
		}else if (active_extruder == RIGHT_EXTRUDER){
		if (target[X_AXIS] < position[X_AXIS]){
			x1mmdone = x1mmdone  + (position[0] - target[X_AXIS]);
		}
		else{
			x1mmdone = x1mmdone + (target[0]-position[X_AXIS]);
		}
		
		if (target[E_AXIS] < position[E_AXIS]){
			e1mmdone = e1mmdone  + (position[E_AXIS] - target[E_AXIS]);
		}
		else{
			e1mmdone = e1mmdone + (target[E_AXIS]-position[E_AXIS]);
		}
	}
	
	
	if (target[Y_AXIS] < position[Y_AXIS]){
		ymmdone = ymmdone  + (position[Y_AXIS] - target[Y_AXIS]);
	}
	else{
		ymmdone = ymmdone + (target[Y_AXIS]-position[Y_AXIS]);
	}
	
	
	// Update position
	memcpy(position, target, sizeof(target)); // position[] = target[]
	
	planner_recalculate();

	st_wake_up();
}

#ifdef ENABLE_AUTO_BED_LEVELING
vector_3 plan_get_position() {
	vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));

	//position.debug("in plan_get position");
	//plan_bed_level_matrix.debug("in plan_get bed_level");
	matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
	//inverse.debug("in plan_get inverse");
	position.apply_rotation(inverse);
	//position.debug("after rotation");

	return position;
}
#endif // ENABLE_AUTO_BED_LEVELING

#ifdef ENABLE_AUTO_BED_LEVELING
void plan_set_position(float x, float y, float z, const float &e)
{
	apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
	#else
	void plan_set_position(const float &x, const float &y, const float &z, const float &e)
	{
		#endif // ENABLE_AUTO_BED_LEVELING

		position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
		position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
		position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
		position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
		st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
		previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
		previous_speed[0] = 0.0;
		previous_speed[1] = 0.0;
		previous_speed[2] = 0.0;
		previous_speed[3] = 0.0;
	}

	void plan_set_e_position(const float &e)
	{
		position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
		st_set_e_position(position[E_AXIS]);
	}

	uint8_t movesplanned()
	{
		return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
	}

	#ifdef PREVENT_DANGEROUS_EXTRUDE
	void set_extrude_min_temp(float temp)
	{
		extrude_min_temp=temp;
	}
	#endif

	// Calculate the steps/s^2 acceleration rates, based on the mm/s^s
	void reset_acceleration_rates()
	{
		for(int8_t i=0; i < NUM_AXIS; i++)
		{
			axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
		}
	}
